While designing miniaturized intelligent machines for challenging biomedical applications such as targeted drug delivery and laparoscopic surgery, researchers have often looked up to nature for inspiration. In this regard, small-scale magnetic soft robotic swimmers (MSRS) are prospective candidates because they offer a contactless mode of actuation besides ensuring quick response with minimum delay, precise path maneuvering, and localization. Owing to their miniaturized length scales, these swimmers often find themselves in a low Reynolds number environment that has no inertial contributions whatsoever. Therefore, MSRS adopts non-reciprocal motion in the form of helical, undulatory, and ciliary swimming to break spatial symmetry for net propulsion. Here, we identify, classify, and compare the kinematic performance of these three nature-inspired basic swimming modes using a fully coupled robust numerical framework that simultaneously incorporates two-way large deformation fluid-structure interactions, magnetics, solid dynamics, and fluid mechanics [1]. Specifically, we report the steady-state swimming speeds achieved by different MSRS using non-dimensional numbers and discuss their maneuverability and bi-directional locomotion. Finally, we explain the fluid-mediated hydrodynamic interactions between MSRS swarms (see Fig. 1) that demonstrate emerging dynamics with complex spatiotemporal patterning and collective swarming behavior [2].